RichAuto A1X - Page 64

Beijing RichAuto S&T Co., Ltd.
Forging ahead and determined to win 59
2. Parameter setting
Para.
No.
Function
Value
Description
*Pr0.00
Setting the direction
of rotation
0
If the motor rotation direction opposite to the
actual needs, set 1.
*Pr0.01
Select control mode
0
0:Position mode,1：velocity mode,2：torque mode
*Pr0.05
Selection of
command pulse input
0
0:Photo-coupler input
（PULS1,PULS2,SIGN1,SIGN2）
1:Exclusive input for line driver
（PULSH1,PULSH2,SIGNH1,SIGNH2)
*Pr0.07
Command pulse input
mode setup
3
Set command pulse input mode:command
pulse+command direction,negative ligic.
*Pr0.08
Command pulse No.
per motor circle
0
When it is set to ―0‖,parameters Pr0.09 and
Pr0.10 are valid
Pr0.09
1st numerator of
command pulse
frequency
multiplication
Need
calculatio
n
Range:0~
2
30
Z1 = Encoder resolution
Z2 = Pulse equivalent×Screw pitch×Transmission
ratio
e.g. Pulse equivalent 1000，Screw pitch 10mm,
Encoder resolution 10000，Transmission ratio 1
Z1/Z2= 10000/1000×10×1=1/1
set Pr0.09=1,set Pr0.10=1.The value of Pr0.09
and Pr0.10 must be integer,range: 0~230 .
Pr0.10
Denominator of the
command pulse
frequency
multiplication
Need
calculatio
n
Range:0~
2
30
*Pr4.05
Function setting for
digital input pin SI6
8618883
Bit1,0 :Set 83,servo on all the time.
NOTES：
1. ALM+：pin-37，ALM-：pin-36，normally closed.